Methods and systems for calibrating sensors
a sensor and sensor technology, applied in the field of methods and systems for calibrating sensors, can solve the problems of slowing down the work progress at the worksite, malfunctioning sensors on the machine,
Active Publication Date: 2017-10-19
CATERPILLAR INC
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Benefits of technology
The present patent is about a method for calibrating sensors on a machine using a controller. The controller receives a first 3D point cloud of the terrain around the machine and the machine and transforms it based on a 3D model of the machine. A second 3D point cloud is then captured by a sensor device on the machine and aligned with the transformed first 3D point cloud based on the one or more features of the terrain. The controller extracts calibration parameters for the sensor device and calibrates it based on these parameters. The technical effects of this invention are that it allows for more accurate and efficient calibration of sensors on machines, resulting in better performance and productivity.
Problems solved by technology
Due to dynamic and unpredictable operating conditions at the worksite, some of the sensors mounted on the machine may malfunction.
This in turn may slow down the work progress at the worksite.
Method used
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[0014]Referring to FIG. 1, an exemplary worksite 100 is illustrated. In an embodiment, the worksite 100 may correspond to a mining site, a construction site, or any other site where a machine is used to perform a task. The worksite 100 has a terrain having one or more features. In an embodiment, the one or more features may correspond to a landmark or an object that is recognizable in the worksite 100. In an embodiment, the one or more features of the terrain include, but are not limited to, berms (represented by 102a), highwalls (represented by 102b), diches (represented by 102c), crest (represented by 102d), and / or the like. A person having ordinary skills in the art would understand that the scope of the disclosure is not limited to the terrain having the aforementioned one or more features. In an embodiment, the one or more features of the terrain may vary based on a type of the worksite 100. The worksite 100 includes one or more first sensor devices 104a, 104b, 104c, and 104d i...
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A method for calibrating sensors devices mounted on a machine is disclosed. The method includes transforming a first 3D point cloud to generate a transformed first 3D point cloud based on an alignment of the first 3D point cloud with a 3D model of the machine. The first 3D point cloud includes 3D point cloud of one or more features of a terrain around the machine, and the machine. The method further includes aligning a second 3D point cloud with the transformed first 3D point cloud based on the one or more features of the terrain, to determine one or more transformation parameters. Thereafter, one or more calibration parameters for the second sensor device is extracted from the one or more transformation parameters. The second sensor device is calibrated based on the one or more calibration parameters.
Description
TECHNICAL FIELD[0001]The present disclosure relates to methods and systems for calibrating sensors. More particularly, the present disclosure relates to methods and systems for calibrating sensors mounted on a machine operating at a worksite.BACKGROUND[0002]Machines such as haul trucks, excavators, motor graders, backhoes, water trucks, and other equipment, are utilized at a worksite to accomplish various tasks. With recent developments in the field of automation, automated machines have been developed that may operate at the worksite with minimal manual intervention. Usually, such automated machines utilize a plurality of sensors to determine operating conditions, at the worksite, such as a location of stationary objects, road conditions, and other machines operating at the worksite. Based on the determined operating conditions, the automated machine may operate at the worksite.[0003]Due to dynamic and unpredictable operating conditions at the worksite, some of the sensors mounted ...
Claims
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IPC IPC(8): G01C25/00G01C21/20G01S17/89
CPCG01C21/20G01C25/00G01S17/89G01S7/4972G06T7/80G06T2207/10028
Inventor WANG, QIRYBSKI, PAUL EDMUND
Owner CATERPILLAR INC